Commit 7c87b1d0 by Luke Campagnola

### Renamed Transform -> SRTTransform to better reflect its function.

Added SRTTransform3D
parent 6129df20
 ... ... @@ -4,7 +4,7 @@ from .Point import Point import numpy as np import pyqtgraph as pg class Transform(QtGui.QTransform): class SRTTransform(QtGui.QTransform): """Transform that can always be represented as a combination of 3 matrices: scale * rotate * translate This transform has no shear; angles are always preserved. """ ... ... @@ -16,7 +16,7 @@ class Transform(QtGui.QTransform): return elif isinstance(init, dict): self.restoreState(init) elif isinstance(init, Transform): elif isinstance(init, SRTTransform): self._state = { 'pos': Point(init._state['pos']), 'scale': Point(init._state['scale']), ... ... @@ -28,7 +28,7 @@ class Transform(QtGui.QTransform): elif isinstance(init, QtGui.QMatrix4x4): self.setFromMatrix4x4(init) else: raise Exception("Cannot create Transform from input type: %s" % str(type(init))) raise Exception("Cannot create SRTTransform from input type: %s" % str(type(init))) def getScale(self): ... ... @@ -73,9 +73,10 @@ class Transform(QtGui.QTransform): self.update() def setFromMatrix4x4(self, m): m = pg.Transform3D(m) m = pg.SRTTransform3D(m) angle, axis = m.getRotation() if angle != 0 and (axis[0] != 0 or axis[1] != 0 or axis[2] != 1): print angle, axis raise Exception("Can only convert 4x4 matrix to 3x3 if rotation is around Z-axis.") self._state = { 'pos': Point(m.getTranslation()), ... ... @@ -128,10 +129,10 @@ class Transform(QtGui.QTransform): def __div__(self, t): """A / B == B^-1 * A""" dt = t.inverted()[0] * self return Transform(dt) return SRTTransform(dt) def __mul__(self, t): return Transform(QtGui.QTransform.__mul__(self, t)) return SRTTransform(QtGui.QTransform.__mul__(self, t)) def saveState(self): p = self._state['pos'] ... ... @@ -203,12 +204,12 @@ if __name__ == '__main__': s.addItem(l1) s.addItem(l2) tr1 = Transform() tr2 = Transform() tr1 = SRTTransform() tr2 = SRTTransform() tr3 = QtGui.QTransform() tr3.translate(20, 0) tr3.rotate(45) print("QTransform -> Transform:", Transform(tr3)) print("QTransform -> Transform:", SRTTransform(tr3)) print("tr1:", tr1) ... ... @@ -221,7 +222,7 @@ if __name__ == '__main__': print("tr2 * tr1 = ", tr2*tr1) tr4 = Transform() tr4 = SRTTransform() tr4.scale(-1, 1) tr4.rotate(30) print("tr1 * tr4 = ", tr1*tr4) ... ...
SRTTransform3D.py 0 → 100644
 # -*- coding: utf-8 -*- from Qt import QtCore, QtGui from Vector import Vector from SRTTransform import SRTTransform import pyqtgraph as pg import numpy as np import scipy.linalg class SRTTransform3D(QtGui.QMatrix4x4): """4x4 Transform matrix that can always be represented as a combination of 3 matrices: scale * rotate * translate This transform has no shear; angles are always preserved. """ def __init__(self, init=None): QtGui.QMatrix4x4.__init__(self) self.reset() if init is None: return if init.__class__ is QtGui.QTransform: init = SRTTransform(init) if isinstance(init, dict): self.restoreState(init) elif isinstance(init, SRTTransform3D): self._state = { 'pos': Vector(init._state['pos']), 'scale': Vector(init._state['scale']), 'angle': init._state['angle'], 'axis': Vector(init._state['axis']), } self.update() elif isinstance(init, SRTTransform): self._state = { 'pos': Vector(init._state['pos']), 'scale': Vector(init._state['scale']), 'angle': init._state['angle'], 'axis': Vector(0, 0, 1), } self.update() elif isinstance(init, QtGui.QMatrix4x4): self.setFromMatrix(init) else: raise Exception("Cannot build SRTTransform3D from argument type:", type(init)) def getScale(self): return pg.Vector(self._state['scale']) def getRotation(self): """Return (angle, axis) of rotation""" return self._state['angle'], pg.Vector(self._state['axis']) def getTranslation(self): return pg.Vector(self._state['pos']) def reset(self): self._state = { 'pos': Vector(0,0,0), 'scale': Vector(1,1,1), 'angle': 0.0, ## in degrees 'axis': (0, 0, 1) } self.update() def translate(self, *args): """Adjust the translation of this transform""" t = Vector(*args) self.setTranslate(self._state['pos']+t) def setTranslate(self, *args): """Set the translation of this transform""" self._state['pos'] = Vector(*args) self.update() def scale(self, *args): """adjust the scale of this transform""" ## try to prevent accidentally setting 0 scale on z axis if len(args) == 1 and hasattr(args[0], '__len__'): args = args[0] if len(args) == 2: args = args + (1,) s = Vector(*args) self.setScale(self._state['scale'] * s) def setScale(self, *args): """Set the scale of this transform""" if len(args) == 1 and hasattr(args[0], '__len__'): args = args[0] if len(args) == 2: args = args + (1,) self._state['scale'] = Vector(*args) self.update() def rotate(self, angle, axis=(0,0,1)): """Adjust the rotation of this transform""" origAxis = self._state['axis'] if axis[0] == origAxis[0] and axis[1] == origAxis[1] and axis[2] == origAxis[2]: self.setRotate(self._state['angle'] + angle) else: m = QtGui.QMatrix4x4() m.translate(*self._state['pos']) m.rotate(self._state['angle'], *self._state['axis']) m.rotate(angle, *axis) m.scale(*self._state['scale']) self.setFromMatrix(m) def setRotate(self, angle, axis=(0,0,1)): """Set the transformation rotation to angle (in degrees)""" self._state['angle'] = angle self._state['axis'] = Vector(axis) self.update() def setFromMatrix(self, m): """ Set this transform mased on the elements of *m* The input matrix must be affine AND have no shear, otherwise the conversion will most likely fail. """ for i in range(4): self.setRow(i, m.row(i)) m = self.matrix().reshape(4,4) ## translation is 4th column self._state['pos'] = m[:3,3] ## scale is vector-length of first three columns scale = (m[:3,:3]**2).sum(axis=0)**0.5 ## see whether there is an inversion z = np.cross(m[0, :3], m[1, :3]) if np.dot(z, m[2, :3]) < 0: scale[1] *= -1 ## doesn't really matter which axis we invert self._state['scale'] = scale ## rotation axis is the eigenvector with eigenvalue=1 r = m[:3, :3] / scale[:, np.newaxis] try: evals, evecs = scipy.linalg.eig(r) except: print "Rotation matrix:", r print "Scale:", scale print "Original matrix:", m raise eigIndex = np.argwhere(np.abs(evals-1) < 1e-7) if len(eigIndex) < 1: print "eigenvalues:", evals print "eigenvectors:", evecs print "index:", eigIndex, evals-1 raise Exception("Could not determine rotation axis.") axis = evecs[eigIndex[0,0]].real axis /= ((axis**2).sum())**0.5 self._state['axis'] = axis ## trace(r) == 2 cos(angle) + 1, so: self._state['angle'] = np.arccos((r.trace()-1)*0.5) * 180 / np.pi if self._state['angle'] == 0: self._state['axis'] = (0,0,1) def as2D(self): """Return a QTransform representing the x,y portion of this transform (if possible)""" return pg.SRTTransform(self) #def __div__(self, t): #"""A / B == B^-1 * A""" #dt = t.inverted()[0] * self #return SRTTransform(dt) #def __mul__(self, t): #return SRTTransform(QtGui.QTransform.__mul__(self, t)) def saveState(self): p = self._state['pos'] s = self._state['scale'] ax = self._state['axis'] #if s[0] == 0: #raise Exception('Invalid scale: %s' % str(s)) return { 'pos': (p[0], p[1], p[2]), 'scale': (s[0], s[1], s[2]), 'angle': self._state['angle'], 'axis': (ax[0], ax[1], ax[2]) } def restoreState(self, state): self._state['pos'] = Vector(state.get('pos', (0.,0.,0.))) scale = state.get('scale', (1.,1.,1.)) scale = scale + (1.,) * (3-len(scale)) self._state['scale'] = Vector(scale) self._state['angle'] = state.get('angle', 0.) self._state['axis'] = state.get('axis', (0, 0, 1)) self.update() def update(self): QtGui.QMatrix4x4.setToIdentity(self) ## modifications to the transform are multiplied on the right, so we need to reverse order here. QtGui.QMatrix4x4.translate(self, *self._state['pos']) QtGui.QMatrix4x4.rotate(self, self._state['angle'], *self._state['axis']) QtGui.QMatrix4x4.scale(self, *self._state['scale']) def __repr__(self): return str(self.saveState()) def matrix(self, nd=3): if nd == 3: return np.array(self.copyDataTo()) elif nd == 2: m = np.array(self.copyDataTo()) m[2] = m[3] m[:,2] = n[:,3] return m[:3,:3] else: raise Exception("Argument 'nd' must be 2 or 3") if __name__ == '__main__': import widgets import GraphicsView from functions import * app = QtGui.QApplication([]) win = QtGui.QMainWindow() win.show() cw = GraphicsView.GraphicsView() #cw.enableMouse() win.setCentralWidget(cw) s = QtGui.QGraphicsScene() cw.setScene(s) win.resize(600,600) cw.enableMouse() cw.setRange(QtCore.QRectF(-100., -100., 200., 200.)) class Item(QtGui.QGraphicsItem): def __init__(self): QtGui.QGraphicsItem.__init__(self) self.b = QtGui.QGraphicsRectItem(20, 20, 20, 20, self) self.b.setPen(QtGui.QPen(mkPen('y'))) self.t1 = QtGui.QGraphicsTextItem(self) self.t1.setHtml('R') self.t1.translate(20, 20) self.l1 = QtGui.QGraphicsLineItem(10, 0, -10, 0, self) self.l2 = QtGui.QGraphicsLineItem(0, 10, 0, -10, self) self.l1.setPen(QtGui.QPen(mkPen('y'))) self.l2.setPen(QtGui.QPen(mkPen('y'))) def boundingRect(self): return QtCore.QRectF() def paint(self, *args): pass #s.addItem(b) #s.addItem(t1) item = Item() s.addItem(item) l1 = QtGui.QGraphicsLineItem(10, 0, -10, 0) l2 = QtGui.QGraphicsLineItem(0, 10, 0, -10) l1.setPen(QtGui.QPen(mkPen('r'))) l2.setPen(QtGui.QPen(mkPen('r'))) s.addItem(l1) s.addItem(l2) tr1 = SRTTransform() tr2 = SRTTransform() tr3 = QtGui.QTransform() tr3.translate(20, 0) tr3.rotate(45) print "QTransform -> Transform:", SRTTransform(tr3) print "tr1:", tr1 tr2.translate(20, 0) tr2.rotate(45) print "tr2:", tr2 dt = tr2/tr1 print "tr2 / tr1 = ", dt print "tr2 * tr1 = ", tr2*tr1 tr4 = SRTTransform() tr4.scale(-1, 1) tr4.rotate(30) print "tr1 * tr4 = ", tr1*tr4 w1 = widgets.TestROI((19,19), (22, 22), invertible=True) #w2 = widgets.TestROI((0,0), (150, 150)) w1.setZValue(10) s.addItem(w1) #s.addItem(w2) w1Base = w1.getState() #w2Base = w2.getState() def update(): tr1 = w1.getGlobalTransform(w1Base) #tr2 = w2.getGlobalTransform(w2Base) item.setTransform(tr1) #def update2(): #tr1 = w1.getGlobalTransform(w1Base) #tr2 = w2.getGlobalTransform(w2Base) #t1.setTransform(tr1) #w1.setState(w1Base) #w1.applyGlobalTransform(tr2) w1.sigRegionChanged.connect(update) #w2.sigRegionChanged.connect(update2) \ No newline at end of file
 ... ... @@ -19,12 +19,12 @@ if sys.version_info[0] < 2 or (sys.version_info[0] == 2 and sys.version_info[1] from . import python2_3 ## in general openGL is poorly supported in Qt. ## in general openGL is poorly supported with Qt+GraphicsView. ## we only enable it where the performance benefit is critical. ## Note this only applies to 2D graphics; 3D graphics always use OpenGL. if 'linux' in sys.platform: ## linux has numerous bugs in opengl implementation useOpenGL = False elif 'darwin' in sys.platform: ## openGL greatly speeds up display on mac elif 'darwin' in sys.platform: ## openGL can have a major impact on mac, but also has serious bugs useOpenGL = True else: useOpenGL = False ## on windows there's a more even performance / bugginess tradeoff. ... ... @@ -111,8 +111,8 @@ from .imageview import * from .WidgetGroup import * from .Point import Point from .Vector import Vector from .Transform import Transform from .Transform3D import Transform3D from .SRTTransform import SRTTransform from .SRTTransform3D import SRTTransform3D from .functions import * from .graphicsWindows import * from .SignalProxy import * ... ...
 ... ... @@ -92,7 +92,7 @@ class CanvasItem(QtCore.QObject): if 'transform' in self.opts: self.baseTransform = self.opts['transform'] else: self.baseTransform = pg.Transform() self.baseTransform = pg.SRTTransform() if 'pos' in self.opts and self.opts['pos'] is not None: self.baseTransform.translate(self.opts['pos']) if 'angle' in self.opts and self.opts['angle'] is not None: ... ... @@ -120,8 +120,8 @@ class CanvasItem(QtCore.QObject): self.itemScale = QtGui.QGraphicsScale() self._graphicsItem.setTransformations([self.itemRotation, self.itemScale]) self.tempTransform = pg.Transform() ## holds the additional transform that happens during a move - gets added to the userTransform when move is done. self.userTransform = pg.Transform() ## stores the total transform of the object self.tempTransform = pg.SRTTransform() ## holds the additional transform that happens during a move - gets added to the userTransform when move is done. self.userTransform = pg.SRTTransform() ## stores the total transform of the object self.resetUserTransform() ## now happens inside resetUserTransform -> selectBoxToItem ... ... @@ -196,7 +196,7 @@ class CanvasItem(QtCore.QObject): #flip = self.transformGui.mirrorImageCheck.isChecked() #tr = self.userTransform.saveState() inv = pg.Transform() inv = pg.SRTTransform() inv.scale(-1, 1) self.userTransform = self.userTransform * inv self.updateTransform() ... ... @@ -226,7 +226,7 @@ class CanvasItem(QtCore.QObject): if not self.isMovable(): return self.rotate(180.) # inv = pg.Transform() # inv = pg.SRTTransform() # inv.scale(-1, -1) # self.userTransform = self.userTransform * inv #flip lr/ud # s=self.updateTransform() ... ... @@ -311,7 +311,7 @@ class CanvasItem(QtCore.QObject): def resetTemporaryTransform(self): self.tempTransform = pg.Transform() ## don't use Transform.reset()--this transform might be used elsewhere. self.tempTransform = pg.SRTTransform() ## don't use Transform.reset()--this transform might be used elsewhere. self.updateTransform() def transform(self): ... ... @@ -363,7 +363,7 @@ class CanvasItem(QtCore.QObject): try: #self.userTranslate = pg.Point(tr['trans']) #self.userRotate = tr['rot'] self.userTransform = pg.Transform(tr) self.userTransform = pg.SRTTransform(tr) self.updateTransform() self.selectBoxFromUser() ## move select box to match ... ... @@ -372,7 +372,7 @@ class CanvasItem(QtCore.QObject): except: #self.userTranslate = pg.Point([0,0]) #self.userRotate = 0 self.userTransform = pg.Transform() self.userTransform = pg.SRTTransform() debug.printExc("Failed to load transform:") #print "set transform", self, self.userTranslate ... ...
 ... ... @@ -3,7 +3,7 @@ from ..Node import Node from pyqtgraph.Qt import QtGui, QtCore import numpy as np from .common import * from pyqtgraph.Transform import Transform from pyqtgraph.SRTTransform import SRTTransform from pyqtgraph.Point import Point from pyqtgraph.widgets.TreeWidget import TreeWidget from pyqtgraph.graphicsItems.LinearRegionItem import LinearRegionItem ... ...
 ... ... @@ -355,7 +355,6 @@ class ImageItem(GraphicsObject): self.drawAt(ev.pos(), ev) def raiseContextMenu(self, ev): ## only raise menu if this terminal is removable menu = self.getMenu() if menu is None: return False ... ... @@ -443,4 +442,8 @@ class ImageItem(GraphicsObject): self.drawMask = mask def removeClicked(self): self.sigRemoveRequested.emit(self) \ No newline at end of file ## Send remove event only after we have exited the menu event handler self.removeTimer = QtCore.QTimer() self.removeTimer.timeout.connect(lambda: self.sigRemoveRequested.emit(self)) self.removeTimer.start(0)
 ... ... @@ -19,7 +19,7 @@ import numpy as np from numpy.linalg import norm import scipy.ndimage as ndimage from pyqtgraph.Point import * from pyqtgraph.Transform import Transform from pyqtgraph.SRTTransform import SRTTransform from math import cos, sin import pyqtgraph.functions as fn from .GraphicsObject import GraphicsObject ... ... @@ -45,8 +45,9 @@ class ROI(GraphicsObject): sigRegionChanged = QtCore.Signal(object) sigHoverEvent = QtCore.Signal(object) sigClicked = QtCore.Signal(object, object) sigRemoveRequested = QtCore.Signal(object) def __init__(self, pos, size=Point(1, 1), angle=0.0, invertible=False, maxBounds=None, snapSize=1.0, scaleSnap=False, translateSnap=False, rotateSnap=False, parent=None, pen=None, movable=True): def __init__(self, pos, size=Point(1, 1), angle=0.0, invertible=False, maxBounds=None, snapSize=1.0, scaleSnap=False, translateSnap=False, rotateSnap=False, parent=None, pen=None, movable=True, removable=False): #QObjectWorkaround.__init__(self) GraphicsObject.__init__(self, parent) self.setAcceptedMouseButtons(QtCore.Qt.NoButton) ... ... @@ -55,6 +56,8 @@ class ROI(GraphicsObject): self.aspectLocked = False self.translatable = movable self.rotateAllowed = True self.removable = removable self.menu = None self.freeHandleMoved = False ## keep track of whether free handles have moved since last change signal was emitted. self.mouseHovering = False ... ... @@ -387,13 +390,19 @@ class ROI(GraphicsObject): if not ev.isExit(): if self.translatable and ev.acceptDrags(QtCore.Qt.LeftButton): hover=True for btn in [QtCore.Qt.LeftButton, QtCore.Qt.RightButton, QtCore.Qt.MidButton]: if int(self.acceptedMouseButtons() & btn) > 0 and ev.acceptClicks(btn): hover=True if self.contextMenuEnabled(): ev.acceptClicks(QtCore.Qt.RightButton) if hover: self.setMouseHover(True) self.sigHoverEvent.emit(self) ev.acceptClicks(QtCore.Qt.LeftButton) ## If the ROI is hilighted, we should accept all clicks to avoid confusion. ev.acceptClicks(QtCore.Qt.RightButton) ev.acceptClicks(QtCore.Qt.MidButton) else: self.setMouseHover(False) ... ... @@ -407,8 +416,36 @@ class ROI(GraphicsObject): else: self.currentPen = self.pen self.update() def contextMenuEnabled(self): return self.removable def raiseContextMenu(self, ev): if not self.contextMenuEnabled(): return menu = self.getMenu() menu = self.scene().addParentContextMenus(self, menu, ev) pos = ev.screenPos() menu.popup(QtCore.QPoint(pos.x(), pos.y())) def getMenu(self): if self.menu is None: self.menu = QtGui.QMenu() self.menu.setTitle("ROI") remAct = QtGui.QAction("Remove ROI", self.menu) remAct.triggered.connect(self.removeClicked) self.menu.addAction(remAct) self.menu.remAct = remAct return self.menu def removeClicked(self): ## Send remove event only after we have exited the menu event handler self.removeTimer = QtCore.QTimer() self.removeTimer.timeout.connect(lambda: self.sigRemoveRequested.emit(self)) self.removeTimer.start(0) def mouseDragEvent(self, ev): if ev.isStart(): #p = ev.pos() ... ... @@ -442,6 +479,9 @@ class ROI(GraphicsObject): if ev.button() == QtCore.Qt.RightButton and self.isMoving: ev.accept() self.cancelMove() if ev.button() == QtCore.Qt.RightButton and self.contextMenuEnabled(): self.raiseContextMenu(ev) ev.accept() elif int(ev.button() & self.acceptedMouseButtons()) > 0: ev.accept() self.sigClicked.emit(self, ev) ... ... @@ -933,8 +973,8 @@ class ROI(GraphicsObject): t1 = Transform(relativeTo) t2 = Transform(st) t1 = SRTTransform(relativeTo) t2 = SRTTransform(st) return t2/t1 ... ... @@ -962,7 +1002,7 @@ class ROI(GraphicsObject): st = self.getState() st['scale'] = st['size'] st = Transform(st) st = SRTTransform(st) st = (st * tr).saveState() st['size'] = st['scale'] self.setState(st) ... ...
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